Commit 5b00f829 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

use model from example-robot-data

parent 55f8c354
......@@ -13,6 +13,8 @@ INCLUDE(cmake/python.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
ADD_PROJECT_DEPENDENCY(example-robot-data REQUIRED)
FINDPYTHON()
ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
......
......@@ -3,6 +3,7 @@
# Author: Pierre Fernbach
import numpy as np
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3
......@@ -10,8 +11,8 @@ from pinocchio import SE3
class Robot(Parent):
# Information to retrieve urdf and srdf files.
name = "talos"
packageName = "talos_data"
meshPackageName = "talos_data"
packageName = "example-robot-data/robots/talos_data"
meshPackageName = "example-robot-data/robots/talos_data"
rootJointType = "freeflyer"
urdfName = "talos"
urdfSuffix = "_reduced"
......@@ -403,7 +404,7 @@ class Robot(Parent):
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# Even though the bound in the urdf is greater than this values,
# Even though the bound in the urdf is greater than this values,
# the controller do not tolerate values outside of this bounds
self.setJointBounds('leg_left_5_joint', [-1.26, 0.768])
self.setJointBounds('leg_right_5_joint', [-1.26, 0.768])
......
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